Vehicle, method and device for controlling slip ratio during vehicle start-up phase

Abstract

The present application belongs to the technical field of vehicle slip ratio control, and particularly relates to a vehicle, a control method and device for vehicle slip ratio in a starting stage. The method comprises: when the vehicle is in the starting stage and the actual motor speed is less than or equal to the motor speed corresponding to the low vehicle speed in the starting stage, controlling the motor to be in a speed control mode; in the speed control mode, determining the target motor speed of each period according to the actual motor speed, the accelerator pedal opening and the vehicle dynamic target of each period, the target motor speed of each period being greater than the actual motor speed of the corresponding period, and the greater the accelerator pedal opening and the higher the vehicle dynamic target, the greater the difference between the target motor speed and the actual motor speed; calculating the motor torque corresponding to each period according to the target motor speed of each period by the motor controller, and controlling the motor to output torque according to the calculated motor torque of each period to complete the slip ratio control in the starting stage of the vehicle, thereby reducing the slip ratio of the commercial vehicle in the starting stage.

Description

Technical Field

[0001] This invention belongs to the field of vehicle slip ratio control technology, specifically relating to a vehicle, a method and device for controlling the slip ratio of a vehicle during the starting phase. Background Technology

[0002] When a vehicle accelerates rapidly or enters low-traction surfaces such as ice, snow, or water, excessive driving force can cause the drive wheels to slip excessively, affecting driving safety and accelerating tire wear, thus shortening tire life. For commercial vehicles, one of the main operating costs is the expense of frequent tire replacements due to tire wear. Therefore, minimizing drive wheel slip to reduce tire wear and extend tire life can significantly reduce the operating costs of commercial vehicles.

[0003] Existing technologies primarily address the problem of excessive drive wheel slippage through drive anti-slip technology. This technology actively reduces vehicle drive torque after detecting drive wheel slippage, thereby minimizing wheel slippage. For example, Chinese patent CN118514535B discloses a drive anti-slip control method, system, and storage medium for electric vehicles. Figure 1 As shown, this method acquires the tram's speed and the rotational speeds of the left and right drive motors. Based on these parameters, it determines whether the left and right drive wheels of the tram are slipping. If slippage is detected on either drive wheel, the drive motor on the slipping side is controlled to operate at the target speed, while the torque of the drive motor on the non-slipping side is adjusted. If both drive wheels are detected to be out of slippage, the torque distribution between the left and right drive motors is adjusted to be more even. This method intervenes only after the vehicle has already slipped, resulting in a certain degree of lag. Furthermore, the slip ratio detected when slippage is identified is relatively high (greater than 0.2 is considered slippage). Since passenger cars have strong acceleration capabilities (capable of accelerating to 100 km / h in under 3 seconds), the corresponding slip ratio is relatively high. Therefore, existing anti-slip technology is suitable for passenger cars, and the above method can be used for anti-slip control when the slip ratio of passenger cars is high.

[0004] Commercial vehicles (such as buses and heavy trucks) can accelerate from 0 to top speed in about 20 seconds. This means that commercial vehicles accelerate much slower in the low-speed range during initial acceleration, and their acceleration capability is far inferior to that of passenger cars. Compared to passenger cars, their slip ratio is lower (generally 0.08), and they are mostly in a low-slip condition without slippage. However, tests have verified that although the slip ratio of commercial vehicles in the low-speed range during initial acceleration is lower than that of passenger cars, the low slip ratio during initial acceleration still causes a certain degree of friction on the tires, seriously affecting the tire life. Therefore, it is necessary to reduce the slip ratio of commercial vehicles during initial acceleration to improve tire life. However, current technology determines that no slippage has occurred during the initial acceleration of commercial vehicles, thus preventing further reduction of the slip ratio by actively reducing torque. Summary of the Invention

[0005] The purpose of this invention is to provide a vehicle, a method and device for controlling the slip ratio during the vehicle's start-up phase, in order to solve the problem that the prior art cannot reduce the slip ratio of commercial vehicles during the start-up phase.

[0006] To solve the above-mentioned technical problems, the present invention provides a method for controlling the slip ratio during the vehicle's start-up phase, comprising: When the vehicle is in the starting phase and the actual motor speed is less than or equal to the speed enable threshold, the motor is controlled in speed control mode; the speed enable threshold is the motor speed corresponding to the low vehicle speed during the starting phase. In speed control mode, the target motor speed for each time period is determined based on the actual motor speed, accelerator pedal opening, and vehicle power target for each time period. The target motor speed for each time period is greater than the actual motor speed for the corresponding time period. The greater the accelerator pedal opening and the higher the vehicle power target, the greater the difference between the target motor speed and the actual motor speed. The motor controller calculates the corresponding motor torque based on the target motor speed for each time period, and controls the motor to output torque according to the calculated motor torque for each time period in order to complete the slip ratio control during the vehicle start-up phase.

[0007] Furthermore, the control of the motor in speed control mode is to switch the motor from torque control mode to speed control mode. The switching process is as follows: the actual torque of the motor at the last moment in torque control mode is used as the torque output starting point in speed control mode. During the set speed control transition time, the motor output torque smoothly transitions from the torque output starting point in speed control mode to the motor torque calculated based on the target motor speed in speed control mode.

[0008] Furthermore, when the actual speed of the motor is greater than the speed enable threshold, the motor is controlled to switch from speed control mode to torque control mode, the target motor torque is calculated in torque control mode, and the motor is controlled to output torque according to the target motor torque.

[0009] Furthermore, the process of switching the motor from speed control mode to torque control mode is as follows: the actual torque of the motor at the last moment in speed control mode is used as the starting point of torque output in torque control mode. Within a set torque control transition time, the motor output torque smoothly transitions from the starting point of torque output in torque control mode to the target motor torque calculated in torque control mode.

[0010] The beneficial effects of the above technical solution are as follows: This invention is a pioneering invention. During the vehicle's starting phase, when the actual motor speed is lower than the motor speed corresponding to the low vehicle speed at the starting phase, the motor adopts a speed control mode. The target motor speed is determined based on the target motor speed being greater than the actual motor speed, ensuring that the motor output torque during the speed control period is always the driving torque. Furthermore, the target motor speed is positively correlated with the accelerator pedal opening and the vehicle's power performance target, ensuring consistency between the vehicle's response and the driver's intentions and power requirements. The motor controller performs closed-loop calculations based on the target motor speed, calculates the corresponding motor torque, and controls the motor response output. This allows the vehicle to accelerate smoothly step-by-step in the low-speed range during the starting phase, thereby reducing the slip rate of commercial vehicles during the starting phase. This invention does not perform slip judgment but directly controls the slip rate in the low-speed range of the starting phase, which not only improves control efficiency and achieves reduced slip rate control for commercial vehicles during the starting phase, but also reduces tire wear and extends tire life. Furthermore, existing technologies are all based on torque control. The motor's response to a target torque command requires a series of filtering and damping controls, resulting in a delay (typically several hundred milliseconds) before the motor can respond. This invention, however, controls the motor based on its speed, not its torque command. The target motor speed is sent to the motor, which then directly calculates the torque and outputs it according to its internal control logic. The response time is typically a few milliseconds, significantly shortening the control response time. Simultaneously, the motor can dynamically adjust its output torque based on the target motor speed on different roads, achieving good speed closed-loop control across roads with varying gradients. This avoids the problem of poor control consistency on different slopes, such as low slip ratio on flat roads but prone to slippage on steep slopes, or good performance on inclines but high slip ratio on flat roads when controlled based on the target torque command.

[0011] To address the aforementioned technical problems, this invention also provides a vehicle slip ratio control device for the starting phase, comprising a motor controller and a processor. The processor controls the motor to operate in speed control mode when the vehicle is in the starting phase and the actual motor speed is less than or equal to a speed enable threshold. In speed control mode, the processor determines the target motor speed for each time period based on the actual motor speed, accelerator pedal opening, and vehicle performance target for each time period. The motor controller calculates the corresponding motor torque based on the target motor speed for each time period and controls the motor to output torque according to the calculated motor torque for each time period to complete the slip ratio control during the vehicle starting phase. The target motor speed for each time period is greater than the actual motor speed for the corresponding time period, and the greater the accelerator pedal opening and the higher the vehicle performance target, the greater the difference between the target motor speed and the actual motor speed. The speed enable threshold is the motor speed corresponding to the low vehicle speed during the starting phase.

[0012] Furthermore, the processor controls the motor to speed control mode by switching the motor from torque control mode to speed control mode. The switching process is as follows: the actual torque of the motor at the last moment in torque control mode is used as the torque output starting point in speed control mode. Within a set speed control transition time, the motor output torque smoothly transitions from the torque output starting point in speed control mode to the motor torque calculated based on the target motor speed in speed control mode.

[0013] Furthermore, when the actual speed of the motor is greater than the speed enable threshold, the motor is controlled to switch from speed control mode to torque control mode, the target motor torque is calculated in torque control mode, and the motor is controlled to output torque according to the target motor torque.

[0014] To address the aforementioned technical problems, the present invention also provides a vehicle, including a motor, a motor controller, and a processor. The processor is used to control the motor in speed control mode when the vehicle is in the starting phase and the actual motor speed is less than or equal to a speed enable threshold. In speed control mode, the target motor speed for each time period is determined based on the actual motor speed, accelerator pedal opening, and vehicle performance target for each time period. The motor controller is used to calculate the corresponding motor torque based on the target motor speed for each time period and control the motor to output torque according to the calculated motor torque for each time period to complete the slip ratio control during the vehicle's starting phase. The target motor speed for each time period is greater than the actual motor speed for the corresponding time period, and the greater the accelerator pedal opening and the higher the vehicle performance target, the greater the difference between the target motor speed and the actual motor speed. The speed enable threshold is the motor speed corresponding to the low vehicle speed during the starting phase.

[0015] Furthermore, the processor controls the motor to speed control mode by switching the motor from torque control mode to speed control mode. The switching process is as follows: the actual torque of the motor at the last moment in torque control mode is used as the torque output starting point in speed control mode. Within a set speed control transition time, the motor output torque smoothly transitions from the torque output starting point in speed control mode to the motor torque calculated based on the target motor speed in speed control mode.

[0016] Furthermore, when the actual speed of the motor is greater than the speed enable threshold, the motor is controlled to switch from speed control mode to torque control mode, the target motor torque is calculated in torque control mode, and the motor is controlled to output torque according to the target motor torque.

[0017] The beneficial effects of the above technical solution are as follows: This invention is a pioneering invention. During the vehicle's starting phase, when the actual motor speed is lower than the motor speed corresponding to the low vehicle speed at the starting phase, the motor adopts a speed control mode. The target motor speed is determined based on the target motor speed being greater than the actual motor speed, ensuring that the motor output torque during the speed control period is always the driving torque. Furthermore, the target motor speed is positively correlated with the accelerator pedal opening and the vehicle's power performance target, ensuring consistency between the vehicle's response and the driver's intentions and power requirements. The motor controller performs closed-loop calculations based on the target motor speed, calculates the corresponding motor torque, and controls the motor response output. This allows the vehicle to accelerate smoothly step-by-step in the low-speed range during the starting phase, thereby reducing the slip rate of commercial vehicles during the starting phase. This invention does not perform slip judgment but directly controls the slip rate in the low-speed range of the starting phase, which not only improves control efficiency and achieves reduced slip rate control for commercial vehicles during the starting phase, but also reduces tire wear and extends tire life. Furthermore, existing technologies are all based on torque control. The motor's response to a target torque command requires a series of filtering and damping controls, resulting in a delay (typically several hundred milliseconds) before the motor can respond. This invention, however, controls the motor based on its speed, not its torque command. The target motor speed is sent to the motor, which then directly calculates the torque and outputs it according to its internal control logic. The response time is typically a few milliseconds, significantly shortening the control response time. Simultaneously, the motor can dynamically adjust its output torque based on the target motor speed on different roads, achieving good speed closed-loop control across roads with varying gradients. This avoids the problem of poor control consistency on different slopes, such as low slip ratio on flat roads but prone to slippage on steep slopes, or good performance on inclines but high slip ratio on flat roads when controlled based on the target torque command. Attached Figure Description

[0018] Figure 1 This is a flowchart of the anti-skid control process for electric vehicle drives in the prior art; Figure 2 This is a flowchart illustrating the control of vehicle slip ratio during the starting phase in an embodiment of the method of the present invention. Figure 3 This is a target motor speed curve diagram of an embodiment of the method of the present invention. Detailed Implementation

[0019] To make the objectives, technical solutions, and advantages of the present invention clearer, the specific embodiments of the present invention will be further described below with reference to the accompanying drawings.

[0020] This invention addresses vehicles operating at low speeds during the initial acceleration phase. By employing a speed control mode for the motor, the vehicle can smoothly accelerate step by step according to time intervals during the initial acceleration phase. This reduces the slippage rate of commercial vehicles during the initial acceleration phase, decreases tire wear, and extends tire lifespan.

[0021] Method Implementation The present invention provides a method for controlling the slip ratio during the vehicle's start-up phase. The implementation principle of this method is as follows: Figure 2 As shown below, a detailed explanation will follow.

[0022] 1. Motor control mode determination.

[0023] When the vehicle is in the starting phase and the actual motor speed is less than or equal to the speed enable threshold, the motor is controlled in speed control mode. The speed enable threshold is the motor speed corresponding to the low vehicle speed during the starting phase. The low vehicle speed is determined according to the vehicle type. For example, for commercial vehicles, the low vehicle speed can be set between 5km / h and 10km / h. For example, the motor speed corresponding to a vehicle speed of 6km / h can be set as the speed enable threshold.

[0024] Based on vehicle status information, determine whether the motor control mode should be in speed control mode under the current operating conditions. The conditions for determining whether the vehicle is in the starting phase and the actual motor speed is less than or equal to the speed enable threshold are: motor speed ≤ speed enable threshold, accelerator pedal opening ≥ accelerator pedal opening enable threshold, brake pedal opening ≤ brake pedal opening enable threshold, and no faults affecting normal vehicle operation, such as motor or communication faults. After the vehicle is powered on and started, if all these conditions are met, the motor control mode switches to speed control mode; if any condition is not met, the motor control mode switches to torque control mode. For example, when the actual motor speed is greater than the speed enable threshold, the motor control switches from speed control mode to torque control mode.

[0025] 2. In speed control mode, the target motor speed is calculated, and the motor controller calculates the corresponding motor torque based on the target motor speed in each time period. The motor is then controlled to output torque according to the calculated motor torque in each time period to complete the slip ratio control during the vehicle start-up phase.

[0026] Since the motor control mode defaults to torque control mode after the vehicle is powered on, switching the motor to speed control mode involves changing the motor from torque control to speed control mode. When the motor control mode switches to speed control, because torque control and speed control use two completely different calculation logics, a sudden torque change occurs during the switch, leading to vehicle vibration. To ensure a smooth switch to speed control, the torque during the switch needs to be smoothed. The switch process is as follows: During the transition from torque control mode to speed control mode, the actual motor torque at the last moment in torque control mode is latched and used as the torque output starting point Trq1 in speed control mode. A speed control transition time Time1 is set. Within the set transition time Time1, the motor output torque smoothly transitions from the torque output starting point Trq1 in speed control mode to the motor torque calculated based on the target motor speed in speed control mode, instead of directly becoming the torque calculated based on the target motor speed in speed control mode. When the time to enter speed control mode is greater than Time1, the motor output torque fully responds to the torque calculated based on the target motor speed in speed control mode.

[0027] The processor calculates the target motor speed in speed control mode based on the vehicle's overall status information. Specifically, for example... Figure 3 As shown, in one embodiment, the target motor speed for each time period is determined based on the actual motor speed, accelerator pedal opening, and vehicle performance target for each time period. During vehicle operation, there is a fixed speed ratio between vehicle speed and actual motor speed. Therefore, in another embodiment, the target motor speed for each time period can also be determined by the vehicle speed, the fixed speed ratio, the accelerator pedal opening, and the vehicle performance target.

[0028] The principles for calculating the target motor speed mainly include three points: 1) The target motor speed for each time period is greater than the actual motor speed for the corresponding time period. That is, the speed difference between the target motor speed and the corresponding actual motor speed is ≥0, thus ensuring that the output torque of the speed control is always the driving torque during the speed control period. The greater the accelerator pedal opening and the higher the vehicle power target, the greater the difference between the target motor speed and the actual motor speed.

[0029] 2) The target motor speed should be positively correlated with the accelerator pedal opening. That is, with a fixed actual motor speed, the greater the accelerator pedal opening, the greater the target motor speed, and the greater the difference between the target motor speed and the actual motor speed, so as to ensure the consistency between the vehicle response and the driver's intention.

[0030] 3) The target motor speed is positively correlated with the vehicle's power performance target. That is, with the actual motor speed and accelerator pedal opening being constant, the higher the vehicle's power performance requirements, the higher the target motor speed, and the greater the speed difference between the target motor speed and the actual motor speed.

[0031] In other words, the target motor speed for each time period is greater than the actual motor speed for the corresponding time period, and the greater the accelerator pedal opening and the higher the vehicle power target, the greater the difference between the target motor speed and the actual motor speed.

[0032] The motor controller calculates the corresponding motor torque based on the target motor speed for each time period, and controls the motor to output torque according to the calculated motor torque for each time period in order to complete the slip ratio control during the vehicle start-up phase.

[0033] Current slip ratio control technology uses torque control. This typically involves first calculating the target motor torque and sending it to the motor controller. Upon receiving the target torque, the motor controller undergoes a series of filtering and damping controls for response verification. This results in a certain lag (generally several hundred milliseconds) in the controlled motor output torque reaching the target torque, leading to a low slip ratio control response rate. Furthermore, torque control exhibits inconsistent performance across different road inclines. For example, if the motor controller uses a fixed torque, this fixed torque may provide good control on flat roads, resulting in a low slip ratio. However, when going uphill, the driving force provided by this fixed torque may be insufficient for the vehicle's uphill driving control, leading to a tendency to roll backwards. Conversely, if the fixed torque provides good control uphill, resulting in a low slip ratio, the driving force provided by this fixed torque may be excessive on flat roads, leading to a still high slip ratio. The speed control method used in this application first calculates the target motor speed, and then the motor controller directly calculates the corresponding torque based on the target motor speed. This eliminates the need for filtering, damping control, and other processing, reducing the motor response time. Furthermore, it can adaptively adjust the torque corresponding to different slopes based on various road gradients, such as uphill or flat roads, so that better slip ratio control can be achieved on roads with different gradients.

[0034] 3. In torque control mode, calculate the target motor torque and control the motor to output torque according to the target motor torque.

[0035] When the motor control mode switches from torque control mode to speed control mode, the different calculation logic of the two control modes will cause a sudden torque change during the switching process, resulting in vehicle vibration. To ensure a smooth switching process to torque control, this invention performs torque smoothing processing during the motor's switch from speed control mode to torque control mode. The switching process is as follows: During the switch from speed control mode to torque control mode, the actual motor torque at the last moment in speed control mode is latched and used as the torque output starting point Trq2 in torque control mode. A torque control transition time Time2 is set. Within the set torque control transition time Time2, the motor output torque smoothly transitions from the torque output starting point Trq2 in torque control mode to the target motor torque calculated in torque control mode, instead of directly becoming the target motor torque calculated in torque control mode. When the time to enter torque control mode is greater than Time2, the motor output torque fully responds to the target motor torque calculated in torque control mode.

[0036] Torque control is the default control mode for motors. Once in torque control mode, the target motor torque can be calculated according to the original torque control logic.

[0037] Device Implementation This invention discloses a vehicle start-up slip ratio control device, comprising a motor controller and a processor, used to control the vehicle start-up slip ratio according to the vehicle start-up slip ratio control method described in the above-described method embodiments. The processor controls the motor to a speed control mode when the vehicle is in the start-up phase and the actual motor speed is less than or equal to a speed enable threshold. In speed control mode, it calculates the target motor speed for each time period according to the aforementioned vehicle start-up slip ratio control method. The motor controller calculates the corresponding motor torque based on the target motor speed for each time period and controls the motor to output torque according to the calculated motor torque for each time period to complete the vehicle start-up slip ratio control.

[0038] Vehicle Example A vehicle according to the present invention includes a motor, a motor controller, and a processor, used for controlling the slip ratio during the vehicle's start-up phase according to the vehicle start-up slip ratio control method described in the above-described method embodiments. The processor can be a separately configured processing device or a vehicle controller.

Claims

1. A method for controlling the slip ratio during vehicle start-up, characterized in that, include: When the vehicle is in the starting phase and the actual speed of the motor is less than or equal to the speed enable threshold, the motor is controlled in speed control mode. The speed enable threshold is the motor speed corresponding to the low vehicle speed during the vehicle start-up phase. In speed control mode, the target motor speed for each time period is determined based on the actual motor speed, accelerator pedal opening, and vehicle power target for each time period. The target motor speed for each time period is greater than the actual motor speed for the corresponding time period. The greater the accelerator pedal opening and the higher the vehicle power target, the greater the difference between the target motor speed and the actual motor speed. The motor controller calculates the corresponding motor torque based on the target motor speed for each time period, and controls the motor to output torque according to the calculated motor torque for each time period in order to complete the slip ratio control during the vehicle start-up phase.

2. The method for controlling the slip ratio during vehicle start-up as described in claim 1, characterized in that, The control of the motor in speed control mode is to switch the motor from torque control mode to speed control mode. The switching process is as follows: the actual torque of the motor at the last moment in torque control mode is used as the starting point of torque output in speed control mode. During the set speed control transition time, the motor output torque smoothly transitions from the starting point of torque output in speed control mode to the motor torque calculated based on the target motor speed in speed control mode.

3. The method for controlling the slip ratio during vehicle start-up as described in claim 1 or 2, characterized in that, When the actual speed of the motor is greater than the speed enable threshold, the motor is controlled to switch from speed control mode to torque control mode. The target motor torque is calculated in torque control mode, and the motor is controlled to output torque according to the target motor torque.

4. The method for controlling the slip ratio during vehicle start-up as described in claim 3, characterized in that, The process of switching the motor from speed control mode to torque control mode is as follows: the actual torque of the motor at the last moment in speed control mode is taken as the starting point of torque output in torque control mode. Within a set torque control transition time, the motor output torque smoothly transitions from the starting point of torque output in torque control mode to the target motor torque calculated in torque control mode.

5. A device for controlling the slip ratio during vehicle start-up, comprising a motor controller and a processor, characterized in that, The processor is used to control the motor in speed control mode when the vehicle is in the starting phase and the actual motor speed is less than or equal to the speed enable threshold. In speed control mode, the target motor speed for each time period is determined according to the actual motor speed, accelerator pedal opening and vehicle power target for each time period. The motor controller is used to calculate the corresponding motor torque based on the target motor speed in each time period, and control the motor to output torque according to the calculated motor torque in each time period to complete the slip ratio control during the vehicle start-up phase; wherein, the target motor speed in each time period is greater than the actual motor speed in the corresponding time period, and the greater the accelerator pedal opening and the higher the vehicle power target, the greater the difference between the target motor speed and the actual motor speed. The speed enable threshold is the motor speed corresponding to the low vehicle speed during the vehicle start-up phase.

6. The vehicle slip ratio control device according to claim 5, characterized in that, The processor controls the motor to speed control mode by switching the motor from torque control mode to speed control mode. The switching process is as follows: the actual torque of the motor at the last moment in torque control mode is used as the starting point of torque output in speed control mode. During the set speed control transition time, the motor output torque smoothly transitions from the starting point of torque output in speed control mode to the motor torque calculated based on the target motor speed in speed control mode.

7. The vehicle slip ratio control device according to claim 5 or 6, characterized in that, When the actual speed of the motor is greater than the speed enable threshold, the motor is controlled to switch from speed control mode to torque control mode. The target motor torque is calculated in torque control mode, and the motor is controlled to output torque according to the target motor torque.

8. A vehicle comprising a motor, a motor controller, and a processor, characterized in that, The processor is used to control the motor to speed control mode when the vehicle is in the starting stage and the actual motor speed is less than or equal to the speed enable threshold. In speed control mode, the target motor speed for each time period is determined according to the actual motor speed, accelerator pedal opening and vehicle power target for each time period. The motor controller is used to calculate the corresponding motor torque based on the target motor speed in each time period, and control the motor to output torque according to the calculated motor torque in each time period to complete the slip ratio control during the vehicle start-up phase; wherein, the target motor speed in each time period is greater than the actual motor speed in the corresponding time period, and the greater the accelerator pedal opening and the higher the vehicle power target, the greater the difference between the target motor speed and the actual motor speed. The speed enable threshold is the motor speed corresponding to the low vehicle speed during the vehicle start-up phase.

9. The vehicle according to claim 8, characterized in that, The processor controls the motor to speed control mode by switching the motor from torque control mode to speed control mode. The switching process is as follows: the actual torque of the motor at the last moment in torque control mode is used as the starting point of torque output in speed control mode. During the set speed control transition time, the motor output torque smoothly transitions from the starting point of torque output in speed control mode to the motor torque calculated based on the target motor speed in speed control mode.

10. The vehicle according to claim 8 or 9, characterized in that, When the actual speed of the motor is greater than the speed enable threshold, the motor is controlled to switch from speed control mode to torque control mode. The target motor torque is calculated in torque control mode, and the motor is controlled to output torque according to the target motor torque.

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